osi3::DetectedMovingObject Struct Reference :: ASAM OSI (Open Simulation Interface)

Classes

struct	CandidateMovingObject
	A candidate for a detected moving object as estimated by the sensor. More...

Public Types

enum	ReferencePoint { REFERENCE_POINT_UNKNOWN = 0, REFERENCE_POINT_OTHER = 1, REFERENCE_POINT_CENTER = 2, REFERENCE_POINT_MIDDLE_LEFT = 3, REFERENCE_POINT_MIDDLE_RIGHT = 4, REFERENCE_POINT_REAR_MIDDLE = 5, REFERENCE_POINT_REAR_LEFT = 6, REFERENCE_POINT_REAR_RIGHT = 7, REFERENCE_POINT_FRONT_MIDDLE = 8, REFERENCE_POINT_FRONT_LEFT = 9, REFERENCE_POINT_FRONT_RIGHT = 10 }
	Definition of available reference points. More...

enum	MovementState { MOVEMENT_STATE_UNKNOWN = 0, MOVEMENT_STATE_OTHER = 1, MOVEMENT_STATE_STATIONARY = 2, MOVEMENT_STATE_MOVING = 3, MOVEMENT_STATE_STOPPED = 4 }
	Information about a possible movement of the object during tracking. More...

Public Attributes

optional DetectedItemHeader	header = 1
	Common information of one detected item. More...

optional BaseMoving	base = 2
	The base parameters of the moving object. More...

optional BaseMoving	base_rmse = 3
	The root mean squared error of the base parameters of the detected moving object (e.g. More...

optional ReferencePoint	reference_point = 4
	Reference point location specification of the sensor measurement (required to decouple sensor measurement, position and bounding box estimation) as used by the sensor (model). More...

optional MovementState	movement_state = 5
	Actual movement state w.r.t. More...

optional double	percentage_side_lane_left = 6
	Percentage side lane left. More...

optional double	percentage_side_lane_right = 7
	Percentage side lane right. More...

repeated CandidateMovingObject	candidate = 8
	A list of candidates for this moving object as estimated by the sensor (e.g. More...

optional ColorDescription	color_description = 9
	The dominating color of the material of the moving object. More...

optional RadarSpecificObjectData	radar_specifics = 100
	Additional data that is specific to radar sensors. More...

optional LidarSpecificObjectData	lidar_specifics = 101
	Additional data that is specific to lidar sensors. More...

optional CameraSpecificObjectData	camera_specifics = 102
	Additional data that is specific to camera sensors. More...

optional UltrasonicSpecificObjectData	ultrasonic_specifics = 103
	Additional data that is specific to ultrasonic sensors. More...

Detailed Description

Moving object in the environment as detected and perceived by the sensor.

The parent frame of a detected moving object is the virtual sensor coordinate system.

/note The virtual sensor coordinate system is relative to the vehicle coordinate system which has its origin in the center of the rear axle of the ego vehicle. This means if virtual sensor mounting position and orientation are set to (0,0,0) the virtual sensor coordinate system coincides with the vehicle coordinate system.

Member Enumeration Documentation

◆ ReferencePoint

enum osi3::DetectedMovingObject::ReferencePoint

Definition of available reference points.

Left/middle/right and front/middle/rear indicate the position in y- and x-direction respectively. The z position is always considered as middle.

Enumerator
REFERENCE_POINT_UNKNOWN	Reference point is unknown, i.e. sensor does not report a reference point for the position coordinate. Value must not be used in ground truth data. Usually this means that the reference point for the given position coordinates is a largely arbitrary point within the bounding volume unknown to the sensor. If this value is set, the center of the bounding box should be used as reference point by convention, unless the specific use case requires otherwise.
REFERENCE_POINT_OTHER	Other (unspecified but known) reference point.
REFERENCE_POINT_CENTER	Center of the bounding box.
REFERENCE_POINT_MIDDLE_LEFT	Middle-Left of the bounding box.
REFERENCE_POINT_MIDDLE_RIGHT	Middle-Right of the bounding box.
REFERENCE_POINT_REAR_MIDDLE	Rear-Middle of the bounding box.
REFERENCE_POINT_REAR_LEFT	Rear-Left of the bounding box.
REFERENCE_POINT_REAR_RIGHT	Rear-Right of the bounding box.
REFERENCE_POINT_FRONT_MIDDLE	Front-Middle of the bounding box.
REFERENCE_POINT_FRONT_LEFT	Front-Left of the bounding box.
REFERENCE_POINT_FRONT_RIGHT	Front-Right of the bounding box.

◆ MovementState

enum osi3::DetectedMovingObject::MovementState

Information about a possible movement of the object during tracking.

Enumerator
MOVEMENT_STATE_UNKNOWN	Movement state is unknown.
MOVEMENT_STATE_OTHER	Other (unspecified but known).
MOVEMENT_STATE_STATIONARY	Until now no object movement was detected in tracking history.
MOVEMENT_STATE_MOVING	Object moves currently.
MOVEMENT_STATE_STOPPED	Object movement was detected in tracking history, but object is currently not moving.

Member Data Documentation

◆ header

optional DetectedItemHeader osi3::DetectedMovingObject::header = 1

Common information of one detected item.

◆ base

optional BaseMoving osi3::DetectedMovingObject::base = 2

The base parameters of the moving object.

Note: The bounding box does NOT include mirrors for vehicles.; The height includes the ground_clearance. It always goes from the top to the ground.

◆ base_rmse

optional BaseMoving osi3::DetectedMovingObject::base_rmse = 3

The root mean squared error of the base parameters of the detected moving object (e.g.

car). MovingObject::base has to be identical for all candidate moving objects.

◆ reference_point

optional ReferencePoint osi3::DetectedMovingObject::reference_point = 4

Reference point location specification of the sensor measurement (required to decouple sensor measurement, position and bounding box estimation) as used by the sensor (model).

Note: Note that the value of this field has no impact on the value of object::position, which always references the center of the object / bounding box.

◆ movement_state

optional MovementState osi3::DetectedMovingObject::movement_state = 5

Actual movement state w.r.t.

the moving object history.

◆ percentage_side_lane_left

optional double osi3::DetectedMovingObject::percentage_side_lane_left = 6

Percentage side lane left.

Percentage value of the object width in the corresponding lane.

Note: DEPRECATED: Use assigned_lane_percentage in MovingObjectClassification instead.

Rules: is_greater_than_or_equal_to: 0
is_less_than_or_equal_to: 100

◆ percentage_side_lane_right

optional double osi3::DetectedMovingObject::percentage_side_lane_right = 7

Percentage side lane right.

Percentage value of the object width in the corresponding lane.

Note: DEPRECATED: Use assigned_lane_percentage in MovingObjectClassification instead.

Rules: is_greater_than_or_equal_to: 0
is_less_than_or_equal_to: 100

◆ candidate

repeated CandidateMovingObject osi3::DetectedMovingObject::candidate = 8

A list of candidates for this moving object as estimated by the sensor (e.g.

pedestrian, car).

◆ color_description

optional ColorDescription osi3::DetectedMovingObject::color_description = 9

The dominating color of the material of the moving object.

◆ radar_specifics

optional RadarSpecificObjectData osi3::DetectedMovingObject::radar_specifics = 100

Additional data that is specific to radar sensors.

Note: Field needs not to be set if simulated sensor is not a radar sensor.

◆ lidar_specifics

optional LidarSpecificObjectData osi3::DetectedMovingObject::lidar_specifics = 101

Additional data that is specific to lidar sensors.

Note: Field needs not to be set if simulated sensor is not a lidar sensor.

◆ camera_specifics

optional CameraSpecificObjectData osi3::DetectedMovingObject::camera_specifics = 102

Additional data that is specific to camera sensors.

Note: Field needs not to be set if simulated sensor is not a camera sensor.

◆ ultrasonic_specifics

optional UltrasonicSpecificObjectData osi3::DetectedMovingObject::ultrasonic_specifics = 103

Additional data that is specific to ultrasonic sensors.

Note: Field needs not to be set if simulated sensor is not an ultrasonic sensor.

osi_detectedobject.proto